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\title{$B@)Ls%7%9%F%`$r;H$C$?(B3$B<!85%-%c%i%/%?!<$N%"%K%a!<%7%g%s$H?6$kIq$$$N(B
$B5-=R(B}
\author{$B5W0f5|(B}

\begin{document}

\maketitle

% $BDs0F%F!<%^>\:Y@bL@$N5-F~MWNN(B $B5Z$S(B $B?3::4p=`(B

% $B5-F~MWNN!'0J2<$NFbMF$rMM<0#3!ZDs0F%F!<%^>\:Y@bL@![$H$7$F!"(B10$B%Z!<%8DxEY$G5-=R$7$F$/$@$5$$!#(B

% $B#1!%Ds0F%W%m%8%'%/%H$N%?%$%H%k$H35MW(B($BH>%Z!<%8DxEY(B)

\section{$BDs0F%W%m%8%'%/%H$N%?%$%H%k$H35MW(B}

$B%W%m%8%'%/%H$N%?%$%H%k!'@)Ls%7%9%F%`$r;H$C$?(B3$B<!85%-%c%i%/%?!<$N%"%K%a!<%7%g(B
$B%s$H?6$kIq$$$N5-=R!#(B

3$B<!85%-%c%i%/%?!<$N%"%K%a!<%7%g%s$H?6$kIq$$!J%S%X%$%S%"!K(B\cite{pinto}$B$r!"(B
$B@)Ls%7%9%F%`(B\cite{mitou} $B$N8@MU$r;H$C$F@k8@E*$K5-=R$9$kJ}K!$rDs0F$9$k!#$^(B
$B$?!"$3$N5-=RJ}K!$NBEEv@-$r<($;$k$h$&$K!"<!$N(B2$BE@$N%=%U%H%&%'%"$r3+H/$9$k!'(B
\begin{itemize}
 \item $B%f!<%6$,%-%c%i%/%?!<$r:n$k$3$H$,=PMh$k%-%c%i%/%?!<%(%G%#%?(B
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\end{itemize}

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$B$J$b$N$G$"$k!#$3$3$G$O!"%-%c%i%/%?!<$N3FItIJ$N4V$K4v2?E*$J4X78$H!"%f!<%6(B
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$B$JJQ2=$b@)Ls$N7A$G5-=R$9$k$N$G$"$k!#(B

$B>-Mh$NL\I8$H$7$F!"$3$3$GDs0F$7$?%-%c%i%/%?!<$N5-=RJ}K!$r<B:]$N%S%G%*%2!<(B
$B%`3+H/$K1~MQ$G$-$k$h$&$K!"%W%k!<%U!&%*%V!&%3%s%;%W%H$H$7$F<($;$kJ*$rL\;X(B
$B$9!#=>$C$F!"HFMQ@-$HF0:n8zN($r:GM%@h$7!"%f!<%6$+$i$NF~NO$KBP$7$F%j%"%k%?(B
$B%$%`$KF0:n$9$k$3$H$r:GDc>r7o$H$9$k$3$H$G!V;H$$J*$K$J$k!W$HH=CG$G$-$k$h$&(B
$B$JJ*$rDs0F$9$k$3$H$,$3$N%W%m%8%'%/%H$G$NL\I8$G$"$k!#(B


% $B#2!%(B

\section{$B4{B8$N%7%9%F%`$NLdBjE@!"%W%m%8%'%/%H$N8z2L(B(1$B%Z!<%8DxEY(B)}

% $B4{B8$N%7%9%F%`$NLdBjE@$rL@5-$7!"FC$K2?$,LdBj$r5-=R$7$F$/$@$5$$!#$^$?K\(B
% $BDs0F$N3+H/$,=*N;$7(B $B$?$H$-!"$=$l$,<R2q$K$b$?$i$98z2L$r=q$$$F$/$@$5$$!#(B


\subsection{$B:Y@Z$l$N%"%K%a!<%7%g%s%G!<%?(B}

$B4{B8$N%7%9%F%`$NB?$/$O!"%-%c%i%/%?!<$N9TF0$N<oN`$R$H$D$R$H$D$r5-=R$7$?%"(B
$B%K%a!<%7%g%s%G!<%?$H%"%K%a!<%7%g%s$N@Z$jBX$(;~$N%H%i%s%8%7%g%s!JJd4V!K$K(B
$B$h$C$F!"%-%c%i%/%?!<$NF0$-$r@)8f$9$k$3$H$,B?$$!#$3$N%"%K%a!<%7%g%s%G!<%?(B
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$BDL>o!"Hs>o$KC;$$;~4V$N%"%K%a!<%7%g%s$G$"$k!#(B

\begin{figure}[h]
\begin{center}
  \includegraphics[width=\textwidth]{fig-anim-seq.eps}
 \caption{$B%"%K%a!<%7%g%s$NA+0\!'$R$H$D$R$H$D$N%"%K%a!<%7%g%s$OHs>o$KC;$$!#(B}
 \label{fig:anim-seq}
\end{center}
\end{figure}

$B$3$N$h$&$JJ}K!$O!"(B3$B<!85%S%G%*%2!<%`$,8=$l$F0JMhB3$/!"Hs>o$K9-$/;H$o$l$F$$(B
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$B$H$,B?$$!#(B

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$B<j$,J*$KFO$/A0$K!"2?$i$+$N2;$d;k3P8z2L$H$H$b$K>2$NJ*$r$Q$C$H>C$7$F$7$^$&(B
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$B$3$N$h$&$JL\E*$N$?$a$K!"B?$/$N>l9g$O!"5U1?F03X!J(Binverse kinematics, IK$B!K(B
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$B$?$@$7!"(BIK$B$O$=$NDj5A$+$i$bJ,$+$k$h$&$K!"D>46E*$J35G0$G$O$J$/!"%"%K%a!<%7%g(B
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\subsection{$BFCD'$H;:6H3&$XM?$($k1F6A(B}

$B0J>e$N$h$&$JLdBjE@$r2r7h$9$k$?$a!"=>Mh$H$O>/$78+J}$rJQ$($?%"%K%a!<%7%g%s(B
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$BD'$G$"$k!#(B

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$B=>Mh$N%-!<%U%l!<%`%"%K%a!<%7%g%s$N35G0$r$R$H$D$NFC<l$J7A$H$7$FFbIt$K4^$`(B
$BJ*$G$"$k!#$7$?$,$C$F!"=>Mh$NJ}K!$H6&B8$7$J$,$i!"$*8_$$$KJd$$9g$&4X78$r:n(B
$B$k$3$H$b2DG=$G$"$k!#(B



% $B#3!%(B
\section{$BL\I8!"Ds0FFbMF(B(5$B%Z!<%8DxEY(B)}

\begin{quotation}
 $B2?$r$I$N$h$&$JJ}K!$G2r7h$7!"$I$N$h$&$J%=%U%H%&%'%"$r3+H/$9$k$N$+$r=q$$(B
 $B$F$/$@$5$$!#%7%9%F(B $B%`$N35N,$d2hLL%$%a!<%8Ey$rI=$9?^$r4^$a$F$/$@$5$$!#(B
 $B%"%$%G%#%"$N%f%K!<%/$5!"=>Mh<jK!$H$I$3$,(B $B0c$&$+$rL@3N$K5-=R$7$F$/$@$5(B
 $B$$!#(B
\end{quotation}

2005$BG/$NL$F'%f!<%9(B\cite{mitou}$B$N;~$K3+H/$7$?@)Ls2r>C7O$rMQ$$!"$h$j6qBNE*(B
$B$J1~MQ$N$?$a$N%-%c%i%/%?!<%(%G%#%?$r:n@.$9$k!#$^$?!"%-%c%i%/%?!<$N?6$kIq(B
$B$$$r@_Dj$9$k$?$a$N%D!<%k$r:n$j!"$=$l$K$h$C$F4JC1$J?M7A7`!"$"$k$$$O%$%s%?!<(B
$B%M%C%H$rDL$8$F?M!9$,BPOC$9$k$3$H$N=PMh$kH"Dm%=%U%H%&%'%"$r9=C[$9$k!#(B

\begin{figure}[h]
\begin{center}
  \includegraphics{fig-editor.eps}
 \caption{$B%-%c%i%/%?!<%(%G%#%?$N2hLL%$%a!<%8!'(BGUI$B$+$iItIJ$rA*$s$G<+M3$K(B
 $BAH$_9g$o$;!"9%$-$J7A$N%-%c%i%/%?!<$r:n$k$3$H$,=PMh$k!#(B}
\end{center}
\end{figure}

\begin{figure}[h]
\begin{center}
  \includegraphics{fig-hakoniwa.eps}

 \caption{$BH"Dm$N2hLL%$%a!<%8!'%-%c%i%/%?!<%(%G%#%?$G:n@.$7$?%-%c%i%/%?!<(B
 $B$rG[CV$7$F!"H"DmM7$S$,=PMh$k!#(B}
\end{center}
\end{figure}

3$B<!85%*%V%8%'%/%H$NI=<($K$O(BOpenGL\cite{opengl}$B$rMQ$$!"(BGUI$B!J%0%i%U%#%+%k$J(B
$BA`:n%Q%M%k!K$K$O(BFlash\cite{flash}$B$rMQ$$$k!#(BFlash$B$O%&%'%V%V%i%&%6$N%W%i%0(B
$B%$%s$H$7$FF0:n$9$k$3$H$,$h$/CN$i$l$F$$$k$,!"(BAIR\cite{AIR}$B$J$I$N%G%9%/%H%C(B
$B%W%"%W%j%1!<%7%g%s$X$N1~MQ$b4D6-$,@0$$$D$D$"$k!#(B

$B4{$K$"$k@)Ls2r>C7O$r%Y!<%9$K!"%-%c%i%/%?!<$N0\F07PO)$N7W;;$H!"?6$kIq$$%M%C(B
$B%H%o!<%/(B\cite{pinto}$B$r<BAu$7!"H"Dm$N<B9T4D6-$r9=C[$9$k!#(B


\subsection{$B%"%K%a!<%7%g%s$NDj5A(B}

$B0lHLE*$K!"(B3$B<!85%-%c%i%/%?!<$OB?$/$N%Q!<%D$H$=$l$i$r7k$V4X@a$+$i$J$j!"$=$N(B
$B%Q!<%D$N$R$H$D$R$H$D$K$D$$$F!"6I=j:BI87O$,3d$jEv$F$i$l$k!#$3$l$i$N6I=j:B(B
$BI87O$O!"DL>o$O(B$4 \times 4$$BMWAG$N@5J}9TNs$GI=$5$l!"$=$N$&$A$N(B12$BMWAG$,:BI8(B
$B7O$rFCDj$9$k$?$a$K;H$o$l$k!#$7$?$,$C$F!"<+M3EY$O(B12$B$G$"$k!#$"$k$$$O!"2sE>(B
$B$H%9%+%i!<G\$@$1$r9M$(!"86E@$N0LCV$OF0$+$J$$$k$H$9$k$H!"%/%)!<%?%K%*%s(B1$B8D(B
$B$H<B?t(B1$B8D$G$bI=8=$G$-!"$3$N$H$-<+M3EY$O(B5$B$H$J$k!#=>$C$F!"$?$H$($P!"(B20$B8DDx(B
$BEY$N%Q!<%D$r$b$D%-%c%i%/%?!<$N>l9g!"A4BN$G(B100$BDxEY$N<+M3EY$,$"$k$3$H$K$J$k!#(B

\begin{figure}[h]
\begin{center}
  \includegraphics{fig-local-coord.eps}
 \caption{$B4X@a$N6I=j:BI87O!'$9$Y$F$N%Q!<%D$O4X@a!J:,85$NItJ,!K$r86E@$H$7(B
 $B$?6I=j:BI87O$r;}$D!#(B}
\end{center}
\end{figure}

$B%-%c%i%/%?!<$N%"%K%a!<%7%g%s$O!"$3$N(B100$B8DDxEY$N%Q%i%a%?$N;~4VA+0\$H$7$F5-(B
$B=R$G$-$k!#(B

$B$7$+$7!"(B100$B$b$"$k%Q%i%a!<%?$r?M4V$,0lEY$K07$&$3$H$O=PMh$J$$!#(B3$B<!85%0%i(B
$B%U%#%C%/%9$r;H$C$?%S%G%*%2!<%`$J$I$G$O!"IaDL$O!"M=$a@lMQ$N%=%U%H%&%'%"$d(B
$B%b!<%7%g%s%-%c%W%A%c$r;H$C$F!"C;$$%"%K%a!<%7%g%s$NCGJR$r==J,$J<oN`$@$1MQ(B
$B0U$7$F$*$$$F!"%W%m%0%i%`<B9T;~$K$=$l$i$rE,59$D$J$.9g$o$;$k$3$H$G!"?M4V$,(B
$B%-%c%i%/%?!<$rA`:n$7$F$$$k$h$&$J463P$r1i=P$7$F$$$k!#(B

\begin{figure}[h]
\begin{center}
  \includegraphics{fig-contol.eps}
 \caption{$B%3%s%H%m!<%i!<$H%2!<%`2hLL!'%f!<%6$O%3%s%H%m!<%i!<$r;H$C$F!"%2!<(B
 $B%`2hLL$NCf$N%-%c%i%/%?!<$rA`:n$7$F$$$k$H$$$&88A[$rJz$/!#(B}
\end{center}
\end{figure}

$B$3$3$G!"K\%W%m%8%'%/%H$G$O=>Mh$N$d$jJ}$H$OJL$N%"%W%m!<%A$H$7$F!"@)Ls%7%9(B
$B%F%`$rMQ$$$k!#(B

$B$H$3$m$G!"8=<B$N?M$NBN$O!"<+M3EY(B100$B$N%Q%i%a%?6u4V$NG$0U$rCM$r$H$l$k$o$1$G(B
$B$O$J$$!#$?$H$($P!"I*$N4X@a$O0lDj$NJ}8~$K$7$+6J$2$k$3$H$,=PMh$J$$!#$7$?$,$C(B
$B$F!"I*$N4X@a$N<+M3EY$O(B1$B$H9M$($k$3$H$,=PMh$k!#$7$+$b!"I*$N6J$,$k3QEY$H$$$&(B
$B$N$O!"(B0$B!k$+$i(B180$B!k$h$j>/$7>/$J$$$/$i$$$G$"$k!#$3$3$G!"$3$N<B<AE*$J<+M3EY(B
1$B$N>pJs$H%-%c%i%/%?!<$NB>$N%Q!<%D$N>uBV$d$=$NB>$N4D6-$N>pJs$+$i!"I*$rIA2h(B
$B$9$k$N$K==J,$J6I=j:BI87O$rF3$-$@$9$N$K!"@)Ls%7%9%F%`$rMQ$$$k$N$G$"$k!#(B

\begin{figure}[h]
\begin{center}
  \includegraphics{fig-constraint.eps}
 \caption{$BI*$N4X@a!'I*$N4X@a$O0lDj$NJ}8~$K$7$+6J$2$k$3$H$,=PMh$J$$!#$3$N(B
 $B$?$a!"A0OS$N>uBV$O(B1$B$D$N3QEY$@$1$GI=$9$3$H$,=PMh$k!#(B}
\end{center}
\end{figure}


\subsection{$B%^%j%*%M%C%H$+$i$N%"%J%m%8!<$H@)Ls%7%9%F%`$r;H$&:,5r(B}

$B>e5-$NI*$NNc$G$O!"<+M3EY(B5$B$@$C$?%Q!<%D$r<+M3EY(B1$B$K$9$k$3$H$,$G$-$?$,!"$b$A(B
$B$m$s$9$Y$F$N%Q!<%D$K$D$$$F$3$3$^$G$&$^$/<+M3EY$,8:$i$;$k$o$1$G$O$J$$!#$=(B
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$B$H$,=PMh$?$H$7$F$b!"0MA3$H$7$F(B20$B$b$N<+M3EY$,;D$C$F$$$k!#(B

$B$H$3$m$G!"%A%'%3$NEAE}E*$J7`?M7A$G$"$k%^%j%*%M%C%H!J;eA`$j?M7A!K$O!"(B1$BBN$N(B
$B?M7A$r(B1$B?M$N?M7A;U$,N><j$r;H$C$FA`$k!#$H$/$K%A%'%3$N%^%j%*%M%C%H$O$9$Y$F;e(B
$B$r;H$C$FA`$k$h$&$K$J$C$F$$$k$N$,FCD'$G$"$k!#%A%'%3$N%^%j%*%M%C%H$O!"4i$+(B
$B$i;X@h$^$GHs>o$KA!:Y$JI=8=$r$9$k$3$H$,$G$-$k$,!"$3$N$9$Y$F$,!";e$rDL$8$F(B
$B?M7A;U$K$h$C$F:n$j=P$5$l$k$N$G$"$k!#(B\footnote{$B9qFb$*$h$S3$30$N$$$/$D$+$N(B
$B%&%'%V%5%$%H(B\cite{puppethouse}\cite{marionette}$B$G!"<B:]$N%^%j%*%M%C%H<L??(B
$B$d%S%G%*$r8+$k$3$H$,=PMh$k!#(B}

$B!c%A%'%3$N%^%j%*%M%C%H$N<L??!d(B

$B$H$$$&$3$H$O!"M}6~$N>e$G$O!"?M4V$NN><j$GA`:n$G$-$kDxEY$N<+M3EY$G!"%A%'%3(B
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$B$O3N$+$G$"$k!#$3$NBP1~$E$1$r@)Ls%7%9%F%`$H$$$&7A$G5-=R$7$h$&$H$$$&$N$,K\(B
$B%W%m%8%'%/%H$NCf?4E*$J%"%$%G%#%"$G$"$k!#(B

$B$D$^$j!"(B100$B$N<+M3EY$9$Y$F$+$i$J$k(B100$B<!85$N6u4V$,$"$C$?$H$7$F!"$=$NItJ,=8(B
$B9g$H$7$F<B:]$K%-%c%i%/%?!<$,$H$jF@$k$9$Y$F$N;Q@*$+$i$J$k6u4V$r9M$($k!#$3(B
$B$N6u4V$O!">e$N9M;!$G$O(B100$B<!85$N6u4V$KKd$a9~$^$l$?(B20$B<!85$N6u4V$H$H$i$($k$3(B
$B$H$,=PMh$k!#$3$3$G!";W$$@Z$C$FO@M}$rHtLv$7!"%^%j%*%M%C%H$N%3%s%H%m!<%k$N(B
$B$h$&$J5!9=$r$D$+$C$F!"$h$j>/$J$$<+M3EY$N6u4V$+$i!"(B20$B<!85$N6u4V$X$N<LA|$r(B
$B9M$($k$N$G$"$k!#(B

\begin{figure}[h]
\begin{center}
  \includegraphics{fig-handle.eps}
 \caption{$B%^%j%*%M%C%H$N%3%s%H%m!<%k!'E57?E*$J%A%'%3$N%^%j%*%M%C%H$N%3%s(B
 $B%H%m!<%k$O!"(B7-9$BK\DxEY$N;e$,$D$$$F$$$k!#(B}
\end{center}
\end{figure}

$B<B:]$N%^%j%*%M%C%H$G$O!"$$$/$D$+$N2DF0$J%O%s%I%k$H!"?M7A;U$,D>@\;X$G$D$^(B
$B$s$G;}$D;e$r;H$C$FA`:n$9$k!#$3$NA`:n7O$G$O%O%s%I%k$N3QEY$d;e$r;}$D;X$N0L(B
$BCV$J$I$,<+M3EY$H$7$F?t$($k$3$H$,$G$-$k$,!"$5$i$K!"<B:]$N%^%j%*%M%C%H$K$O(B
$BF0NO3XE*$J1F6A$,$"$k$?$a!"A`:n7O$rF0$+$9B.EY$d%^%j%*%M%C%H$NAG:`Ey!"$"$i(B
$B$f$kJ*$,$3$NF0$-$r:81&$9$k!#$3$N$?$a!"%^%j%*%M%C%H$O<oN`$K$h$C$F$^$C$?$/(B
$BF0$-$,0[$J$k$N$@!#(B

$B$3$l$O8@$$49$($l$P!"$"$i$f$k%^%j%*%M%C%H$,$"$i$f$kF0$-$r$9$k$N$G$O$J$$$H(B
$B$$$&$3$H$G$"$k!#$+$J$i$:!"$I$N$h$&$J1i5;$r$7$?$$$+$H$$$&1i=PE*$JMW0x$K$h$C(B
$B$F!"%^%j%*%M%C%H$O:n$i$l!"$^$?A*$P$l$k$N$G$"$k!#(B

$B$7$+$7$J$,$i!"%3%s%T%e!<%?$G%^%j%*%M%C%H$r%7%_%e%l!<%H$9$k$N$,K\%W%m%8%'(B
$B%/%H$NL\E*$G$O$J$$!#8=<B$N%^%j%*%M%C%H$O8=<B$NJ*M}K!B'$K;YG[$5$l$F$$$k$N(B
$B$KBP$7!"%3%s%T%e!<%?$GI=8=$5$l$k$b$N$K$O!"JL$N@)8B$,2]$5$l$k$+$i$@!#%^%j(B
$B%*%M%C%H$NJ*M}E*FCD'$H?M7A;U$dIqBf$H$N4X78@-$KCmL\$7!"$=$N%(%C%;%s%9$r%3(B
$B%s%T%e!<%?%0%i%U%#%C%/%9$K1~MQ$9$k$H$$$&$N$,!"$3$N%W%m%8%'%/%H$NA@$$$G$"(B
$B$k!#(B

\subsection{$B%$%Y%s%H$H%U%i%0$N=hM}5!9=$H$7$F$N@)Ls%7%9%F%`(B}

$B0lHLE*$J%S%G%*%2!<%`$O!"?J9T$r@)8f$9$k$N$K%$%Y%s%H$H%U%i%0$H$$$&35G0$rMQ(B
$B$$$k$3$H$,B?$$!#%$%Y%s%H$H$O!"%2!<%`Fb$G2?$+$,5/$3$k$3$H!JNc$($P!"%f!<%6(B
$B$,%3%s%H%m!<%i!<$N%\%?%s$r2!$7$?$H$+!"%9%F!<%8$r%/%j%"$7$?$H$-$H$+!K$G$"(B
$B$j!"%U%i%0$H$O!"=i4|>uBV$,56$G!"0lDj$N>r7o$,K~$?$5$l$?$H$-$K??$H$J$k??M}(B
$BCM$G$"$k!#%U%i%0$NCM$,JQ2=$9$k$3$H$G%$%Y%s%H$,H/@8$9$k$3$H$b$"$k$7!"%$%Y(B
$B%s%H$,H/@8$7$F%U%i%0$,$?$D$3$H$b$"$k!#(B

$B$3$N%U%i%0$N%G!<%?$ODL>o!"IaDL$N%S%C%H%;%C%H$H$7$FI=8=$7!"I,MW$J$H$-$K3F(B
$B%S%C%H$rA\::$7$F!"2?$i$+$N%$%Y%s%H$rH/@8$5$;$k$Y$-$+$rH=CG$9$k!#=>Mh$N(B
RPG$B!J%m!<%k!&%W%l%$%s%0!&%2!<%`!K$d%"%I%Y%s%A%c!<%2!<%`$G$O!"%9%H!<%j!<E8(B
$B3+$,$=$l$[$IB?$/J,4t$9$k$3$H$,$J$$$N$G!"$3$N$h$&$JJ}K!$,$h$/MQ$$$i$l$k!#(B
$B$7$+$7$J$,$i!"%U%i%0$N?t$,6KC<$KB?$$>l9g$d!"%U%i%0$,N)$D=gHV$J$I$b%2!<%`(B
$B$N?J9T$K1F6A$9$k$h$&$J>l9g$O!"=>MhE*$JJ}K!$G$O!"5-=R$,;X?t4X?tE*$KHQ;($K(B
$B$J$k62$l$,$"$k!#(B

$B@)Ls%7%9%F%`$O!"$3$N$h$&$J%2!<%`$N?J9T$N@)8f$K$b1~MQ$G$-$k!#$H$/$K!"6KC<(B
$B$K%U%i%0$NB?$$%k!<%k$r;}$C$?%Q%:%k$N$h$&$J%2!<%`$O!"=>MhE*$JJ}K!$G$OHs>o(B
$B$KFq$7$$$N$G!"@)Ls%7%9%F%`$NM-MQ@-$r<($9$3$H$,=PMh$k$H;W$&!#$3$N$?$a$K!"(B
$B;n$7$K!V?tFH!W(B\cite{sudoku}$B$H$$$&%Q%:%k$r<+F0E*$K2r$/%W%m%0%i%`(B
\cite{sudokuvideo}$B$r:n$C$F$_$?$H$3$m!"Cf!A>e5i<T8~$1DxEY$NLdBj$G$"$l$P2r(B
$B$1$kJ*$,=PMh$?!#(B

$B%9%/%j!<%s%7%g%C%H(B

$B@)Ls%7%9%F%`$r%$%Y%s%H$H%U%i%0$N=hM}$K;H$&MxE@$O!"$D$M$KI,MW==J,$J%U%i%0(B
$B$@$1$r;2>H$9$l$P$h$/!"$^$?$=$N=hM}$r@k8@E*$KJ,$+$j$d$9$/5-=R$G$-$k$3$H$G(B
$B$"$k!#=>Mh$NJ}K!$G$O!"B?$/$N%U%i%0$H%$%Y%s%H$,Aj8_:nMQ$9$k>l9g$K$O!"$=$N(B
$BJ#;($5$K4v2?5i?tE*$KHfNc$7$F%W%m%0%i%`%3!<%I$,J#;($K$J$C$F$7$^$C$F$$$?!#(B
$B$3$NItJ,$O%2!<%`$N?J9T$K4X$o$k=EMW$J$H$3$m$G$b$"$k$N$G!"@k8@E*$KJ,$+$j$d(B
$B$9$/5-=R$G$-$k@)Ls%7%9%F%`$K$O!"Hs>o$KM-Mx$G$"$k$H9M$($i$l$k!#(B

$B%-%c%i%/%?!<%(%G%#%?$K$O!"5e$d1_Cl$N$h$&$J4JC1$J7A$+$i$J$kItIJ$H!"$=$l$i(B
$B$r7k$S$D$1$k%8%g%$%s%H$rMQ0U$7!"%f!<%6$O<+J,$N9%$-$J7A$N%-%c%i%/%?!<$r@)(B
$B:n$9$k$3$H$,=PMh$k!#(B

\begin{figure}[h]
\begin{center}
  \includegraphics{fig-flash-ui.eps}
 \caption{$B%-%c%i%/%?!<%(%G%#%?$N(BGUI$B!'?t<oN`$NItIJ!J%W%j%_%F%#%V!K$H4X@a(B
 $B$rA*$V$3$H$,=PMh$k!#(B}
\end{center}
\end{figure}


\subsection{$BL\I8(B}

$B%-%c%i%/%?!<%(%G%#%?$O!"%f!<%6$,D>46E*$KA`:n$G$-$F!"Jb$/!"J*$K?($k$H$$$C(B
$B$?:GDc8B$NF0:n$r!"%f!<%6$,L5M}$J$/Dj5A$G$-$kJ*$H$7$?$$!#$^$?!"H"Dm$NCf$G(B
$B<+A3$K?6$kIq$($k$h$&$K!"JI$d%F!<%V%kEy$N4D6-$KBP$7$F!"$=$l$i$rHr$1$FJb$$(B
$B$?$j$9$k$J$I$N$7$+$k$Y$-H?1~$r<B8=$G$-$k$h$&$K$7$?$$!#(B

$B$?$H$($P!"%+%U%'$NF~$j8}$+$i%F!<%V%k$K8~$+$C$F?J$_!"@J$K:B$C$F0{$_J*$r0{(B
$B$_$J$,$iB>$N%-%c%i%/%?!<$H$N2qOC$r;O$a$k$H$$$C$?0lO"$N9TF0$r!"?t2s$N%^%&(B
$B%9$N%/%j%C%/$@$1$G<B8=$G$-$k$h$&$K$7$?$$!#(B




% OpenGL
% C++
% $B@)Ls2r>C7O!'(B

% Gauche $B$N%i%s%?%$%`%i%$%V%i%j$rAH$_9~$s$G@)Ls$r5-=R$9$k!#(B
% $B%3!<%I%8%'%M%l!<%?$r$D$+$C$F@)Ls2r>C7O$r:~?7!#(B
% $B@)Ls2r>C7O$NJBNs2=!#(B
% $B%G!<%?JQ49!"@)Ls%(%G%#%?!'(B

% COLLADA $B$N%-!<%U%l!<%`%"%K%a!<%7%g%s$r@)Ls$KJQ49$9$k%3%s%P!<%?(B
% $B%3%s%P!<%H$7$?%G!<%?$KBP$7$F!"$5$i$K@)Ls$r@_Dj$9$k(B GUI $B%(%G%#%?(B
% COLLADA $B$N%b%G%k%G!<%?$rFI$_9~$`I,MW$,$"$k!#(B
% Gauche-gl $B$r;H$C$?%W%l%S%e!<%o(B
% $B%7%9%F%`9=@.?^!#(B


% original size


% original size

% $B@)Ls2r>C7O$N?^!#(B $B%^%j%*%M%C%H$N<+M3EY$N?^!#(B

% $B#4!%(B
\section{$B=`Hw>u67(B(1$B%Z!<%8DxEY(B)}

{\small $B%W%m%8%'%/%H$GMQ$$$k5;=Q!"5!:`!"MxMQ2DG=$J%=%U%H%&%'%"%b%8%e!<%k$J$I$K$D(B
$B$$$F8=:_$N=`Hw>u(B $B67$r5-:\$7$F$/$@$5$$!#(B}

\subsection{$B%O!<%I%&%'%"(B}

$B0lHLE*$K;H$o$l$F$$$k(BPC$B$r9XF~$9$k!#%0%i%U%#%C%/%"%/%;%i%l!<%?$H(BCPU$B$N@-G=$r(B
$B=E;k$7!"3+H/3+;O;~E@$G<j:"$J2A3J!J(B15$B!A(B20$BK|1_DxEY!K$G<j$KF~$kJ*$r:NMQ$9$k(B
$BM=Dj$G$"$k!#(B

\subsection{$B%=%U%H%&%'%"(B}

\subsubsection{$B8@8l=hM}7O(B}

Scheme$B=hM}7O$N(BGauche$B$rMQ$$$k!#(B

\subsubsection{$B%0%i%U%#%C%/%i%$%V%i%j(B}

OpenGL$B$*$h$S!"(BGauche$B$N%P%$%s%G%#%s%0$G$"$k(BGauche-gl$B$rMQ$$$k!#(B

\subsubsection{$B@)Ls2r>C7O(B}

$B5W0f$,(B2005$BG/EY$NL$F'%f!<%9$G3+H/$7$?(B\meph $B$rCf?4E*$J5;=Q$H$7$F:NMQ$9$k!#(B
\meph $B$N@)Ls2r>C7O$O4{$K3+H/$,40N;$7$?$,!"%Q%U%)!<%^%s%9$N8~>e$J$I2~A1$N(B
$BM>CO$,$"$k$N$G!"K\%W%m%8%'%/%H$N4|4VCf$K$b@Q6KE*$K=$@5$r$*$3$J$&!#(B

\subsubsection{$B%f!<%6%$%s%?!<%U%'%$%9(B}

$B%\%?%s$d%a%K%e!<$J$I$N(BGUI$B!J(BGraphical User Interface$B!K$O(BAdobe Flash$B$rMQ$$(B
$B$F3+H/$9$k!#(BFlash$B$H(BGauche$B$OD>@\%W%m%0%i%`$H$7$F%j%s%/$7$F$$$k$o$1$G$J$/!"(B
Gauche$BB&$G%5!<%P$r:n@.$7$F!"$3$N%5!<%P$KBP$7$F(BFlash$B$+$i@\B3$7!"(BUI$B$N%$%Y%s(B
$B%H>pJs$r$d$j<h$j$9$k$H$$$&7A$r$H$k!#(BFlash$B$O(BFlash Player$B>e$GF0$+$9$N$G5!G=(B
$BE*$K$O==J,$G$"$k$,!"2DG=$G$"$l$P!"(BAdobe AIR$B$r;H$C$F%9%^!<%H$J%G%9%/%H%C%W(B
$B%"%W%j%1!<%7%g%s$H$7$?$$!#(B

% $B#5!%(B
\section{$B6qBNE*$J3+H/7W2h(B($BFbMF!"3+H/BN@)!"%9%1%8%e!<%k!"HqMQ(B) (2$B%Z!<%8DxEY(B)}

\begin{quotation}
 $B8B$i$l$?F|Dx$GL\I8$rC#@.$9$k$?$a$K!"%=%U%H%&%'%"$r$I$N$h$&$JBN@)$G3+H/$7!"(B
 $B$I$N$h$&$K%W%m(B $B%8%'%/%H$r?J$a$k$+$r!"?=@A$9$kM=;;$H$N4XO"$r<($7$J$,$i6qBN(B
 $BE*$K=q$$$F$/$@$5$$!#3+H/<T$N<+(B $B8J%"%T!<%k$,$"$l$P$=$l$b=q$$$F$/$@$5$$!#(B
\end{quotation}

\subsection{$B?M0w9=@.(B}

$B3+H/$O%a%$%s$N3+H/<T(B1$B?M!JDs0F<TK\?M!K$K2C$(!"(BOpenGL$B$J$I$N0lHLE*$J5;=Q$N$_(B
$B$r;H$C$F=PMh$kItJ,$r30Cm$K0MMj$9$k!#$^$?!"(BUI$B$N%G%6%$%s$d%[!<%`%Z!<%8$J$I(B
$B$N%"!<%H%o!<%/$N@):n$O!"%"!<%F%#%9%H$K0MMj$9$k!#(B

\subsection{$B%9%1%8%e!<%k(B}

$B3+H/4|4V$r$*$h$=(B7$B%v7n$H$7!"2<$N?^$N$h$&$J%9%1%8%e!<%k$G3+H/$r$*$3$J$&!#30(B
$BCm$r3hMQ$7$F!"2DG=$JItJ,$OJB9T$K:n6H$r?J$a$k!#$^$?!"2hLL$d%f!<%6%$%s%?!<(B
$B%U%'%$%9$N%G%6%$%s$K4X$7$F$O!"%G%6%$%J!<$K%l%S%e!<$H%V%i%C%7%e%"%C%W$r0M(B
$BMj$9$k!#(B

$B$^$?!":G8e$NH"Dm$N%M%C%HBP1~$K$D$$$F$O!";~4V$KM>M5$,$"$l$P$*$3$J$&!#(B

\begin{tabular}{|l|l|}\hline
 Flash$B$K$h$k(BUI$B$N%W%m%H%?%$%W(B   & $B"#(B \\\hline
 $B%(%G%#%?$N;EMM=q:n@.(B          & $B"""#(B \\\hline
 $B@)Ls%7%9%F%`$N@_7W(B            & $B"""""#"#(B \\\hline
 OpenGL$B$K$h$k(BUI$B$N3+H/!J30Cm!K(B  & $B"""""#"#(B \\\hline
 $B@)Ls%7%9%F%`<B9T4D6-$N9=C[(B    & $B"""""""""#"#"#"#(B \\\hline
 UI$B$N%V%i%C%7%e%"%C%W(B          & $B"""""""""""#"#(B \\\hline
 $BH"Dm$N%W%m%H%?%$%W(B            & $B"""""""""""""""#(B \\\hline
 $BH"Dm$N(BOpenGL UI$B3+H/!J30Cm!K(B   & $B"""""""""""""""""#"#"#(B \\\hline
 $BH"Dm$N3+H/(B                    & $B"""""""""""""""""#"#"#"#"#"#(B \\\hline
 $BH"Dm(BUI$B$N%V%i%C%7%e%"%C%W!J30Cm!K(B & $B"""""""""""""""""""""""""""#"#(B \\\hline
 $BJ8=q:n@.(B                      & $B"""""""""""""""""""""""""""""""#"#(B \\\hline
 $B%&%'%V%5%$%H!J30Cm!K(B          & $B"""""""""""""""""""""""""""""""#"#(B \\\hline
 $BH"Dm%M%C%HBP1~(B                & $B"""""""""""""""""""""""""""""""#"#"#"#(B \\\hline
\end{tabular}

$B$"$kDxEYF0:n$9$kJ*$,=PMh$?;~E@$G!"%=%U%H%&%'%"$H%=!<%9%3!<%I$r8x3+$7!"C/(B
$B$b$,;22C$G$-$k%W%m%8%'%/%H$H$7$?$$!#(B

\subsection{$B3+H/FbMF$N>\:Y(B}

\subparagraph{Flash$B$K$h$k(BUI$B$N%W%m%H%?%$%W(B}
$BA4BN$N2hLL%$%a!<%8$N@_7W$b$+$M$F!":G=i$K(BFlash$B$r$D$+$C$F(BUI$B$N%W%m%H%?%$%W$r(B
$B@):n$9$k!#$3$N;~E@$G$O$^$@;f<G5o$N$h$&$JJ*$G$7$+$J$$$,!"(BFlash$B$r;H$&$3$H$G(B
$BAa$$CJ3,$G%&%'%V>e$G8x3+$7$?$j!"%"!<%F%#%9%H$K0U8+$r5a$a$?$j$G$-$k!#(B

\subparagraph{$B%(%G%#%?$N;EMM=q:n@.(B}
$B%-%c%i%/%?!<%(%G%#%?$N;EMM=q$r:n@.$9$k!#$3$N;EMM=q$O!"$"$H$N30Cm$H$N4V$G(B
$B$N%3%_%e%K%1!<%7%g%s$G;HMQ$9$k$[$+!"%&%'%V$G8x3+$9$k$J$I$7$F!"6=L#$N$"$k(B
$B?M$rJg$k$3$H$K$bMxMQ$9$k!#(B

\subparagraph{$B@)Ls%7%9%F%`$N@_7W(B}
$B@)Ls%7%9%F%`$N>e$G!"%-%c%i%/%?!<$r5-=R$9$k$?$a$NOHAH$_$r@_7W$9$k!#K\%W%m(B
$B%8%'%/%H$NCf?4E*$J5!G=ItJ,$N@_7W$G$"$k!#(B

\subparagraph{OpenGL$B$K$h$k(BUI$B$N3+H/(B}
OpenGL$B!J(BGLUT$B!K$N%^%&%9%$%Y%s%H5!G=$J$I$r;H$C$F!"%f!<%6$+$i$NF~NO$r<hF@$7(B
$B$?$j!";k3P8z2L$r;H$C$F%f!<%6$X$N%U%#!<%I%P%C%/$r$*$3$J$&$J$I$N$?$a$N!"4p(B
$BACE*$JOHAH$_$r3+H/$9$k!#(B

$B$3$NItJ,$N3+H/$O!"0lHLE*$J(BScheme$B$H(BOpenGL$B$N5;=Q$,$"$l$P=PMh$kItJ,$J$N$G!"(B
$B30Cm$K0MMj$9$k!#(B

\subparagraph{$B@)Ls%7%9%F%`<B9T4D6-$N9=C[(B}
$B>e$G@_7W$7$?@)Ls%7%9%F%`$r;H$C$F!"<B:]$K7W;;$r<B9T$7!"2hLL$KIA2h$r$*$3$J(B
$B$&4D6-$r9=C[$9$k!#$3$3$G:n$C$?<B9T4D6-$O!"%-%c%i%/%?!<%(%G%#%?$HH"Dm$NN>(B
$BJ}$G;HMQ$9$k!#(B

\subparagraph{UI$B$N%V%i%C%7%e%"%C%W(B}
\subparagraph{$BH"Dm$N%W%m%H%?%$%W(B}
\subparagraph{$BH"Dm$N(BOpenGL UI$B3+H/(B}
\subparagraph{$BH"Dm$N3+H/(B}
\subparagraph{$BH"Dm(BUI$B$N%V%i%C%7%e%"%C%W(B}
\subparagraph{$BJ8=q:n@.(B}
\subparagraph{$B%&%'%V%5%$%H(B}
\subparagraph{$BH"Dm%M%C%HBP1~(B}

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	 $B%"%K%a!<%7%g%s$NI=8=!W5W0f5|(B2005$BG/EYL$F'%=%U%H%&%'%"AOB$;v6H(B($BL$(B
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	 \texttt{http://ja.wikipedia.org/wiki/3$B<!85%3%s%T%e!<%?%0%i%U%#%C%/%9(B}
 \bibitem{jacobian} $B!V%d%3%S%"%s$rMQ$$$?5U1?F03X!W(BTMPSwiki,
	 \texttt{http://www.tmps.org/}
 \bibitem{opengl}OpenGL - The Industry Standard for High Performance
	 Graphics, \texttt{http://www.opengl.org/}
 \bibitem{flash}Flash CS3 Professional, Adobe,
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 \bibitem{sudokuvideo}$B!V(BMEPHISTO $B$G?tFH%=%k%P!<!J$A$g$C$H6/2=!K!#!W%K%3%K(B
	 $B%3F02h(B($B=)(B),\\
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	 Marionettes- Quality Marionettes Puppets and Collectibles,\\
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	 $B%^%j%*%M%C%H!&;X?M7A!&J"OC=Q?M7A(B --- Puppet House / $B%Q%Z%C%H%O%&%9(B,\\
	 \texttt{http://www.puppet-house.co.jp/}


\end{thebibliography}

\end{document}
